#ifndef BASE_H
#define BASE_H

#include <stdio.h>

typedef struct {
	double x;
	double y;
	double theta;
} state_v;

class base {
	double x;
	double y;
	double theta;

public:
	base(void);
	~base(void);
	int safeDrive(short v, short d);
	int safeTurn(short v, short a);
	void moveIl(double xf, double yf, short v);
	void moveSl(double xf, double yf, short v, int steps);
	void moveTo(double xf, double yf, short v, int (*done)(void));
	void printState(void);
	state_v getState(void);
};

#endif
